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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p>computing the marginal covariance given a cholesky factor (lower triangle of the factor)  
 <a href="classg2o_1_1_marginal_covariance_cholesky.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="marginal__covariance__cholesky_8h_source.html">marginal_covariance_cholesky.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a0ea50dbda0558ca98faacafc8c9f48c9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a0ea50dbda0558ca98faacafc8c9f48c9">computeCovariance</a> (double **covBlocks, const std::vector&lt; int &gt; &amp;blockIndices)</td></tr>
<tr class="memdesc:a0ea50dbda0558ca98faacafc8c9f48c9"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the marginal cov for the given block indices, write the result to the covBlocks memory (which has to be provided by the caller).  <a href="#a0ea50dbda0558ca98faacafc8c9f48c9">More...</a><br /></td></tr>
<tr class="separator:a0ea50dbda0558ca98faacafc8c9f48c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77e7396fb18b334b4d707f41e5e05399"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a77e7396fb18b334b4d707f41e5e05399">computeCovariance</a> (<a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixXd &gt; &amp;spinv, const std::vector&lt; int &gt; &amp;rowBlockIndices, const std::vector&lt; std::pair&lt; int, int &gt; &gt; &amp;blockIndices)</td></tr>
<tr class="memdesc:a77e7396fb18b334b4d707f41e5e05399"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the marginal cov for the given block indices, write the result in spinv).  <a href="#a77e7396fb18b334b4d707f41e5e05399">More...</a><br /></td></tr>
<tr class="separator:a77e7396fb18b334b4d707f41e5e05399"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1fab5946726badbb38c2b2aa54a0118c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a1fab5946726badbb38c2b2aa54a0118c">MarginalCovarianceCholesky</a> ()</td></tr>
<tr class="separator:a1fab5946726badbb38c2b2aa54a0118c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a53bda8bc29bee2a7fb871c25a58ab191"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a53bda8bc29bee2a7fb871c25a58ab191">setCholeskyFactor</a> (int n, int *Lp, int *Li, double *Lx, int *permInv)</td></tr>
<tr class="memdesc:a53bda8bc29bee2a7fb871c25a58ab191"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the CCS representation of the cholesky factor along with the inverse permutation used to reduce the fill-in.  <a href="#a53bda8bc29bee2a7fb871c25a58ab191">More...</a><br /></td></tr>
<tr class="separator:a53bda8bc29bee2a7fb871c25a58ab191"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aafdc3a753d5b6f3fca95d5bcbca44442"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#aafdc3a753d5b6f3fca95d5bcbca44442">~MarginalCovarianceCholesky</a> ()</td></tr>
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</table><table class="memberdecls">
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Protected Types</h2></td></tr>
<tr class="memitem:a9925dd2e45479a7feb783ff71d93fdbc"><td class="memItemLeft" align="right" valign="top">typedef std::tr1::unordered_map&lt; int, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a9925dd2e45479a7feb783ff71d93fdbc">LookupMap</a></td></tr>
<tr class="memdesc:a9925dd2e45479a7feb783ff71d93fdbc"><td class="mdescLeft">&#160;</td><td class="mdescRight">hash struct for storing the matrix elements needed to compute the covariance  <a href="#a9925dd2e45479a7feb783ff71d93fdbc">More...</a><br /></td></tr>
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Protected Member Functions</h2></td></tr>
<tr class="memitem:a556f8da80f0873b74b57c82b587b4f97"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a556f8da80f0873b74b57c82b587b4f97">computeEntry</a> (int r, int c)</td></tr>
<tr class="memdesc:a556f8da80f0873b74b57c82b587b4f97"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute one entry in the covariance, r and c are values after applying the permutation, and upper triangular.  <a href="#a556f8da80f0873b74b57c82b587b4f97">More...</a><br /></td></tr>
<tr class="separator:a556f8da80f0873b74b57c82b587b4f97"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b0816374af957f23aa2d6b015e4b9bf"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a9b0816374af957f23aa2d6b015e4b9bf">computeIndex</a> (int r, int c) const</td></tr>
<tr class="memdesc:a9b0816374af957f23aa2d6b015e4b9bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the index used for hashing  <a href="#a9b0816374af957f23aa2d6b015e4b9bf">More...</a><br /></td></tr>
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Protected Attributes</h2></td></tr>
<tr class="memitem:a516fa45fe98edfa0cc68fc2b0e0d5de4"><td class="memItemLeft" align="right" valign="top">int *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a516fa45fe98edfa0cc68fc2b0e0d5de4">_Ai</a></td></tr>
<tr class="memdesc:a516fa45fe98edfa0cc68fc2b0e0d5de4"><td class="mdescLeft">&#160;</td><td class="mdescRight">row indices of the CCS storage  <a href="#a516fa45fe98edfa0cc68fc2b0e0d5de4">More...</a><br /></td></tr>
<tr class="separator:a516fa45fe98edfa0cc68fc2b0e0d5de4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5998463e23c716bb1abb02e9b3e40e0b"><td class="memItemLeft" align="right" valign="top">int *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a5998463e23c716bb1abb02e9b3e40e0b">_Ap</a></td></tr>
<tr class="memdesc:a5998463e23c716bb1abb02e9b3e40e0b"><td class="mdescLeft">&#160;</td><td class="mdescRight">column pointer of the CCS storage  <a href="#a5998463e23c716bb1abb02e9b3e40e0b">More...</a><br /></td></tr>
<tr class="separator:a5998463e23c716bb1abb02e9b3e40e0b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ac05a8c32b6a2e0cdb0b6a071a7552d"><td class="memItemLeft" align="right" valign="top">double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a2ac05a8c32b6a2e0cdb0b6a071a7552d">_Ax</a></td></tr>
<tr class="memdesc:a2ac05a8c32b6a2e0cdb0b6a071a7552d"><td class="mdescLeft">&#160;</td><td class="mdescRight">values of the cholesky factor  <a href="#a2ac05a8c32b6a2e0cdb0b6a071a7552d">More...</a><br /></td></tr>
<tr class="separator:a2ac05a8c32b6a2e0cdb0b6a071a7552d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6ceee33e0cde1d9a4888abab8b6ad712"><td class="memItemLeft" align="right" valign="top">std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a6ceee33e0cde1d9a4888abab8b6ad712">_diag</a></td></tr>
<tr class="memdesc:a6ceee33e0cde1d9a4888abab8b6ad712"><td class="mdescLeft">&#160;</td><td class="mdescRight">cache 1 / H_ii to avoid recalculations  <a href="#a6ceee33e0cde1d9a4888abab8b6ad712">More...</a><br /></td></tr>
<tr class="separator:a6ceee33e0cde1d9a4888abab8b6ad712"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a9d21e9ee6654b9e6d69a62e87c201a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a9925dd2e45479a7feb783ff71d93fdbc">LookupMap</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a7a9d21e9ee6654b9e6d69a62e87c201a">_map</a></td></tr>
<tr class="memdesc:a7a9d21e9ee6654b9e6d69a62e87c201a"><td class="mdescLeft">&#160;</td><td class="mdescRight">hash look up table for the already computed entries  <a href="#a7a9d21e9ee6654b9e6d69a62e87c201a">More...</a><br /></td></tr>
<tr class="separator:a7a9d21e9ee6654b9e6d69a62e87c201a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a086c541bde9958af88146788a9ac2611"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a086c541bde9958af88146788a9ac2611">_n</a></td></tr>
<tr class="memdesc:a086c541bde9958af88146788a9ac2611"><td class="mdescLeft">&#160;</td><td class="mdescRight">L is an n X n matrix.  <a href="#a086c541bde9958af88146788a9ac2611">More...</a><br /></td></tr>
<tr class="separator:a086c541bde9958af88146788a9ac2611"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a404f5d0ce82c2877324bafb8997b96aa"><td class="memItemLeft" align="right" valign="top">int *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a404f5d0ce82c2877324bafb8997b96aa">_perm</a></td></tr>
<tr class="memdesc:a404f5d0ce82c2877324bafb8997b96aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">permutation of the cholesky factor. Variable re-ordering for better fill-in  <a href="#a404f5d0ce82c2877324bafb8997b96aa">More...</a><br /></td></tr>
<tr class="separator:a404f5d0ce82c2877324bafb8997b96aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>computing the marginal covariance given a cholesky factor (lower triangle of the factor) </p>
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          <td class="memname">typedef std::tr1::unordered_map&lt;int, double&gt; <a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a9925dd2e45479a7feb783ff71d93fdbc">g2o::MarginalCovarianceCholesky::LookupMap</a></td>
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<p>hash struct for storing the matrix elements needed to compute the covariance </p>

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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="memname">g2o::MarginalCovarianceCholesky::MarginalCovarianceCholesky </td>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void g2o::MarginalCovarianceCholesky::computeCovariance </td>
          <td>(</td>
          <td class="paramtype">double **&#160;</td>
          <td class="paramname"><em>covBlocks</em>, </td>
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          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
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<p>compute the marginal cov for the given block indices, write the result to the covBlocks memory (which has to be provided by the caller). </p>

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          <td class="memname">void g2o::MarginalCovarianceCholesky::computeCovariance </td>
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          <td class="paramtype"><a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixXd &gt; &amp;&#160;</td>
          <td class="paramname"><em>spinv</em>, </td>
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<p>compute the marginal cov for the given block indices, write the result in spinv). </p>

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<p>compute one entry in the covariance, r and c are values after applying the permutation, and upper triangular. </p>
<p>May issue recursive calls to itself to compute the missing values. </p>

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<p>compute the index used for hashing </p>

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          <td class="memname">void g2o::MarginalCovarianceCholesky::setCholeskyFactor </td>
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<p>set the CCS representation of the cholesky factor along with the inverse permutation used to reduce the fill-in. </p>
<p>permInv might be 0, will then not permute the entries.</p>
<p>The pointers provided by the user need to be still valid when calling <a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a0ea50dbda0558ca98faacafc8c9f48c9" title="compute the marginal cov for the given block indices, write the result to the covBlocks memory (which...">computeCovariance()</a>. The pointers are owned by the caller, <a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html" title="computing the marginal covariance given a cholesky factor (lower triangle of the factor) ...">MarginalCovarianceCholesky</a> does not free the pointers. </p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<p>row indices of the CCS storage </p>

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<p>column pointer of the CCS storage </p>

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<p>values of the cholesky factor </p>

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<p>cache 1 / H_ii to avoid recalculations </p>

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          <td class="memname"><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html#a9925dd2e45479a7feb783ff71d93fdbc">LookupMap</a> g2o::MarginalCovarianceCholesky::_map</td>
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<p>hash look up table for the already computed entries </p>

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<p>L is an n X n matrix. </p>

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<p>permutation of the cholesky factor. Variable re-ordering for better fill-in </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="marginal__covariance__cholesky_8h_source.html">marginal_covariance_cholesky.h</a></li>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="marginal__covariance__cholesky_8cpp.html">marginal_covariance_cholesky.cpp</a></li>
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